#ifndef RIGHT_ARM
#define RIGHT_ARM

#include <ros/ros.h>
#include <pr2_controllers_msgs/JointTrajectoryAction.h>
#include <actionlib/client/simple_action_client.h>

class RightArm {
  private:
  typedef actionlib::SimpleActionClient< pr2_controllers_msgs::JointTrajectoryAction > TrajClient;
  TrajClient* traj_client_;
  public:
  RightArm();
  ~RightArm();
  void startTrajectory(pr2_controllers_msgs::JointTrajectoryGoal goal);
  bool waitForResult(float duration);
  pr2_controllers_msgs::JointTrajectoryGoal moveInTrajectory(float headPan);
  pr2_controllers_msgs::JointTrajectoryGoal moveLeftTrajectory(float headPan);
  pr2_controllers_msgs::JointTrajectoryGoal moveRightTrajectory(float headPan);
  pr2_controllers_msgs::JointTrajectoryGoal armDownTrajectory();
  actionlib::SimpleClientGoalState getState();
};
#endif
